JPS6014105A - Position detector - Google Patents
Position detectorInfo
- Publication number
- JPS6014105A JPS6014105A JP12305783A JP12305783A JPS6014105A JP S6014105 A JPS6014105 A JP S6014105A JP 12305783 A JP12305783 A JP 12305783A JP 12305783 A JP12305783 A JP 12305783A JP S6014105 A JPS6014105 A JP S6014105A
- Authority
- JP
- Japan
- Prior art keywords
- detected
- signal
- image
- detection signal
- transducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明妊５、工業用ロボットの位置検出装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a position detection device for an industrial robot.
従来例の構成とその問題点
工業用ロボットを用い、作業を行う時、対象とする物体
を正確に位置決めする事が困難である場合、対象とする
物体の位置情報を得る為、位置検出装置が用いられる。Conventional configuration and its problems When working with an industrial robot, if it is difficult to accurately position the target object, a position detection device is used to obtain position information of the target object. used.
必要であり、使用するにあたり、価格面で問題が多かっ
た。It was necessary, and there were many problems in terms of price when using it.
発明の目的
本発明は、上記従来の問題点を解消するもので、簡素化
された処理系により対象とする物体の位置検出を行う位
置検出装置を提供することを目的とする。OBJECTS OF THE INVENTION The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a position detection device that detects the position of a target object using a simplified processing system.
発明の構成
本発明は、被検出物体を照明する照明装置と、前記被検
出物体の像を結像させる結像装置と、結像面上に配置し
像の明るさを検出する光電変換器よりなる検出装置と、
像と光電変換器の相対位置を結像面内で移動させる走査
装置と、前記検出装置の検出信号を遅延させる遅延装置
と、前記検出装置の検出信号と前記遅延装置の遅延信号
と前記走査装置の走査信号とにより前記被検出物体の位
置を決定する決定手段から構成されてお９、被検出物体
の位置検出処理の簡素化をはかるものである。Structure of the Invention The present invention comprises an illumination device that illuminates an object to be detected, an imaging device that forms an image of the object to be detected, and a photoelectric converter that is arranged on an imaging plane and detects the brightness of the image. A detection device,
a scanning device that moves the relative position of an image and a photoelectric converter within an imaging plane, a delay device that delays a detection signal of the detection device, a detection signal of the detection device, a delayed signal of the delay device, and the scanning device. The present invention is comprised of determining means for determining the position of the object to be detected based on the scanning signal of the object to be detected, and is intended to simplify the process of detecting the position of the object to be detected.
実施例の説明 以Ｆに本発明の一実施例を崗にもとづいて説明する。Description of examples Hereinafter, one embodiment of the present invention will be described based on the construction.
第１図において、照明装＠１で照明された被検出物体２
が結像レンズ３により光電変換器４上に結像する。前記
光電変換器４より、像の明るさの検出信−ｆｆｉ、 Ａ
が出力され制御装置５に入力している。In Fig. 1, the object to be detected 2 illuminated by the illumination device @1
is imaged onto the photoelectric converter 4 by the imaging lens 3. The photoelectric converter 4 sends a detection signal of image brightness -ffi, A
is output and input to the control device 5.
前記結像レンズ３と前舵光電変換器４の中間には、ノ１
テ査装置としてガルバノメータ６が配置され、前記制御
装置６より出力された走査信号で、前記光電変換器４上
を映像が移動するように駆動されている。A hole 1 is provided between the imaging lens 3 and the front rudder photoelectric converter 4.
A galvanometer 6 is disposed as a scanning device, and is driven by a scanning signal output from the control device 6 so that an image moves on the photoelectric converter 4.
次に第２図において、前記被検出物体２の位置を決定す
る決定原理を説明すると、前記光電変換器４の走査方向
長さをｄ、前記被検出物体２の像の走査方向長さをＤ、
像の走査速度を■とし、前記ｙＣ電変換器４の検出信号
Ａを時間Ｔだけ遅延させた遅延信号をＢとすればｄ （
Ｄ（ｄ ＋ Ｖ −Ｔかっ■・ｒ−ｄ＜Ｄの条件下にお
いて、検出信号Ａと遅延信号Ｂの差Ｂ−Ａを演算し、前
記被検出物体２の像が前記光電変換器４の中心を通過し
た後、前記光電変換器４め中心から■・Ｔ／２ に位置
する時けＢ−Ａ＝ｏ、その近傍ではｌＢ・−ＡＩ＞＞Ｏ
ｌそれ以外ではＢ−Ａ：ｌ：ｏとなる点に着目するもの
である。Next, in FIG. 2, to explain the principle of determining the position of the detected object 2, the length of the photoelectric converter 4 in the scanning direction is d, and the length of the image of the detected object 2 in the scanning direction is D. ,
If the image scanning speed is ■, and the delay signal obtained by delaying the detection signal A of the yC electric converter 4 by a time T is B, then d (
Under the condition of D(d+V-T)・r-d<D, the difference B-A between the detection signal A and the delayed signal B is calculated, and the image of the detected object 2 is reflected by the photoelectric converter 4. After passing through the center, when the fourth photoelectric converter is located at ■·T/2 from the center, B-A=o, and in the vicinity, lB·-AI>>O.
In other cases, attention is paid to the point that B-A:l:o.
制御装置６の構成の一例を示すと第３図のように、遅延
回路７．演算回路８．ゲート回路９．比較回路１ｏ、Ａ
ＮＤ回路１１．サンプリング回路１２、駆動回路１３か
ら構成されている。前記光電変換器４の検出信号Ａは、
前記遅延回路７と前記演算回路８に入力し、前記遅延回
路７は検出信号Ａを時間Ｔ遅れた遅延信号Ｂに変換し、
前記演算回路８に出力する。前記演算回路８ば、検出信
号Ａと遅延信号Ｂを演算しＢ−Ａを出力する。前記演算
回路８には前記ゲート回路９．前記比較回路１０が接続
され、前記ゲート回路９は、入力の値Ｂ−Ａがある値以
上になった時から次にある値以下になる丑での聞出力信
号を出し、前記比較回路１０は、入力の値Ｂ−Ａ＝ｏ
になった時に出力信号を出す。前記ゲート回路９と前記
比較回路１０の出力に１、前記ＡＮＤ回路１１に接続さ
れ、走査信４３を出力する前記駆動回路１３に接続され
た前記サンプリング回路１２にザンブリングイ昌号を与
える。前記サンプリング回路１２は、サンプリング信号
により前記駆動１４＝４１路１３の走査信号を読み取り
、位置信号を出力する。An example of the configuration of the control device 6 is shown in FIG. 3, which includes a delay circuit 7. Arithmetic circuit 8. Gate circuit 9. Comparison circuit 1o, A
ND circuit 11. It is composed of a sampling circuit 12 and a drive circuit 13. The detection signal A of the photoelectric converter 4 is
input to the delay circuit 7 and the arithmetic circuit 8, the delay circuit 7 converts the detection signal A into a delay signal B delayed by a time T;
It is output to the arithmetic circuit 8. The arithmetic circuit 8 calculates the detection signal A and the delayed signal B and outputs B-A. The arithmetic circuit 8 includes the gate circuit 9. The comparison circuit 10 is connected, and the gate circuit 9 outputs an output signal when the input value B-A becomes above a certain value and then becomes below a certain value. , input value B-A=o
It outputs an output signal when the A signal 1 is applied to the outputs of the gate circuit 9 and the comparison circuit 10, and a signal 1 is applied to the sampling circuit 12, which is connected to the AND circuit 11 and to the drive circuit 13 which outputs the scanning signal 43. The sampling circuit 12 reads the scanning signal of the drive 14=41 path 13 based on the sampling signal, and outputs a position signal.
次にＬ記のように構成した本実施例の位置検出装置につ
いて以下その動作を説明する。Next, the operation of the position detection device of this embodiment configured as shown in L will be explained below.
廿ず、前記駆動回路１３より疋査侶−シ３が出力され、
前記ガルバノメータ６が駆動され、前記光電変換器４上
に結像した前記被検出物体２の映像が走査方向に移動す
る。前記光電変換器４の検出信号Ａば、前記演算回路８
に入力すると共に、前記遅延１「ｊ」路７を経て遅延信
号Ｂとなり、前記演算回路８に入力し、Ｂ−Ａが出力さ
れる。前記被検出物体２の映像が前記光電変換器４上に
きた時、予めＥａ）Ｏとなるようなある値Ｅ８と比較し
、Ｂ−Ａ）Ｅａ となシ、前記ゲート回路９より信号が
出力される。次に、前記被検出物体２の映像が前記光電
変換器４から■・Ｔ／２の位置にきた時、予めＦｚｏと
なるようなある値に設定されたＦと比較し、Ｂ−Ａ（Ｆ
となシ、前記比較回路１０より信号が出力される。前
記ゲート回路９と前記比較回路１０の信号出力により、
前記ＡＮＤ回路１１は、前記サンプリング回路１２にサ
ンプリング信号を出力し、前記サンプリング回路１２は
、その時の前記駆動回路１３の走査信号を読み取り、位
置信号を出力する。その後、前記被検出物体２の映像が
前記光電変換器４から■・Ｔの位置にきた時、予めＥｂ
（０となるようなある値Ｅｂと比較し、Ｂ−Ａ（Ｅｂと
なり前記ゲート回路９よりの信号出力はなくなる。First, the driver circuit 13 outputs the signal 3,
The galvanometer 6 is driven, and the image of the object to be detected 2 formed on the photoelectric converter 4 moves in the scanning direction. The detection signal A of the photoelectric converter 4 and the arithmetic circuit 8
At the same time, it becomes a delayed signal B through the delay 1 "j" path 7, which is input to the arithmetic circuit 8, and B-A is output. When the image of the object to be detected 2 comes on the photoelectric converter 4, it is compared in advance with a certain value E8 such that Ea)O, and a signal is output from the gate circuit 9 as B-A)Ea. be done. Next, when the image of the object to be detected 2 comes to a position of .
Then, a signal is output from the comparison circuit 10. By the signal outputs of the gate circuit 9 and the comparison circuit 10,
The AND circuit 11 outputs a sampling signal to the sampling circuit 12, and the sampling circuit 12 reads the scanning signal of the drive circuit 13 at that time and outputs a position signal. Thereafter, when the image of the object to be detected 2 comes from the photoelectric converter 4 to the position of
(Compared with a certain value Eb which becomes 0, B-A(Eb becomes, and the signal output from the gate circuit 9 disappears.
以上のように本実施例によれば、光電変換器上に結像し
た映像を走査装置により移動させ、光電変換器の検出信
号と該検出信号を遅延した遅延信号を演算処理すること
により、簡素化され・た処理系により被検出物体の位置
検出を行え、位置検出処理に対し被検出物体および被検
出物体の背景の空間的・時間的明るさの変化の影響を軽
微とすることができる。As described above, according to this embodiment, the image formed on the photoelectric converter is moved by the scanning device, and the detection signal of the photoelectric converter and the delayed signal obtained by delaying the detection signal are subjected to arithmetic processing. The position of the object to be detected can be detected using a standardized processing system, and the influence of changes in spatial and temporal brightness of the object to be detected and the background of the object to be detected can be minimized on the position detection process.
なお、実施例において、被検出物体と照明装置の関係を
反射型光学系に配置し／ヒが、透過型光学系が成立する
被検出物体に対しては、照明装置を被検出物体を基亭と
して結像装置と相対するよう配置し、Ａ−Ｂを演勢する
事により適用できる。In the examples, the relationship between the object to be detected and the illumination device is arranged in a reflection type optical system, but for the object to be detected where a transmission type optical system is established, the illumination device is placed in the relationship between the object to be detected and the object to be detected. It can be applied by arranging it so as to face the imaging device and directing A-B.
ま／こ、被検」」物体の大きさが異なる場合には、■−
１／こはＴを変え、適合条件を満す事により適用できる
。If the size of the object is different, ■-
1/This can be applied by changing T and satisfying the compatibility conditions.
゛まだ、走査装置としてガルバノメータ６を用いたが、
他の走査手段を用いてもよい。゛The galvanometer 6 was still used as the scanning device, but
Other scanning means may also be used.
寸だ、位置決定手段としてゲート回路と比較回路を用い
／ζが、第２図に示される決定原理にもとづくいかなる
決定手段を用いてもよい。Although a gate circuit and a comparison circuit are used as the position determining means, any determining means based on the determining principle shown in FIG. 2 may be used.
発明の効果
本発明は、光電変換器上に結像した被検出物体の映像を
走査装置により移動させ、光電変換器の検出信号と該検
出信号を遅延した遅延信号を演算処理することにより、
簡素化された処理系により被検出物体の位置検出を行え
、微小時間における映像の明るさの差を演算処理するこ
とにより、位置検出処理に対する被検出物体および被検
出物体の背景の空間的・時間的明るさの変化の影響を軽
微とする効果を得ることができる優れた位置検出装置を
実現できるものである。Effects of the Invention The present invention moves an image of an object to be detected formed on a photoelectric converter using a scanning device, and calculates and processes a detection signal of the photoelectric converter and a delayed signal obtained by delaying the detection signal.
The position of the detected object can be detected using a simplified processing system, and by calculating the difference in image brightness in a minute time, it is possible to detect the spatial and temporal position of the detected object and the background of the detected object for the position detection process. Accordingly, it is possible to realize an excellent position detection device that can obtain the effect of minimizing the influence of changes in target brightness.
第１図は本発明の実施例としての位置検出装置の構成図
、第２図は本発明の決定原理を示す原理図、第３図は本
発明の実施例としての制御装置の構成図である。
１・・−・・・照明装置、２・・・・・・被検出物体、
３・・・・・・結像レンズ、４・・・・・光電変換器、
６・・・・・・制御装置、６・・・・・ガルバノメータ
、７・・・・・遅延回路、８・・・・・・演算回路。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図
第２図FIG. 1 is a block diagram of a position detection device as an embodiment of the present invention, FIG. 2 is a principle diagram showing the determination principle of the present invention, and FIG. 3 is a block diagram of a control device as an embodiment of the present invention. . 1...--Lighting device, 2...-Detected object,
3... Imaging lens, 4... Photoelectric converter,
6... Control device, 6... Galvanometer, 7... Delay circuit, 8... Arithmetic circuit. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 2
Claims (1)
体の像を結像させる結像装置と、結像面上に配置し像の
明るさを検出する光電変換器よシなる検出装置と、像と
光電変換器の相対位置を結像面内で移動させる走査装置
と、前記検出装置の検出信号を遅延させる遅延装置と、
前記検出装置の検出信号と前記遅延装置の遅延信号と前
記走査装置の走査信号表により前記被検出物体の位置を
決定する決定手段とを備えた位置検出装置。An illumination device that illuminates the IJj object to be detected, an imaging device that forms an image of the object to be detected, and a detection device such as a photoelectric converter that is placed on the imaging plane and detects the brightness of the image. a scanning device that moves the relative position of the image and the photoelectric converter within the imaging plane; and a delay device that delays the detection signal of the detection device.
A position detecting device comprising determining means for determining the position of the detected object based on a detection signal of the detecting device, a delayed signal of the delay device, and a scanning signal table of the scanning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12305783A JPS6014105A (en) | 1983-07-05 | 1983-07-05 | Position detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12305783A JPS6014105A (en) | 1983-07-05 | 1983-07-05 | Position detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6014105A true JPS6014105A (en) | 1985-01-24 |
Family
ID=14851125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12305783A Pending JPS6014105A (en) | 1983-07-05 | 1983-07-05 | Position detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6014105A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10638021B2 (en) | 2017-03-09 | 2020-04-28 | Canon Kabushiki Kaisha | Measurement device, processing device, and article manufacturing method |
-
1983
- 1983-07-05 JP JP12305783A patent/JPS6014105A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10638021B2 (en) | 2017-03-09 | 2020-04-28 | Canon Kabushiki Kaisha | Measurement device, processing device, and article manufacturing method |
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